Rastreamento de referência constante por realimentação de saída para sistemas lineares com restrições via conjuntos invariantes

Abstract

The design of a practical output feedback controller applied to the constant reference tracking problem for constrained linear discrete-time systems via set-invariance techniques is presented. In this regard, Output-Feedback Controlled-Invariant (OFCI) Polyhedra are used to ensure that state and input constraints are satisfied at all times. A coupled-tank system, consisting of two interconnected water tanks, is used as a case study to illustrate the controller’s application. Based on the measured output and the linearized dynamics of the system, a suitable control sequence is computed via linear programming to achieve reference tracking under the imposed constraints. Experimental results show that the goal of constant reference tracking is successfully achieved, although performance limitations related to model approximation and measurement noise are observed.